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CN109008832B - A pressure-adjustable household cleaning robot - Google Patents

A pressure-adjustable household cleaning robot Download PDF

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Publication number
CN109008832B
CN109008832B CN201811196396.6A CN201811196396A CN109008832B CN 109008832 B CN109008832 B CN 109008832B CN 201811196396 A CN201811196396 A CN 201811196396A CN 109008832 B CN109008832 B CN 109008832B
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guide rail
circular guide
wheel
working end
pressure
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CN109008832A (en
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李晓艳
江鹏
班书昊
王知鸷
吴王平
苗乃明
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Zhongshan Huida Economic And Trade Co ltd
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Changzhou University
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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4072—Arrangement of castors or wheels
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A47L11/4083—Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation

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  • Cleaning Implements For Floors, Carpets, Furniture, Walls, And The Like (AREA)

Abstract

本发明公开了一种压力可调节的家用清洁机器人，属于清洁机器人领域。它包括车轮A、车轮B、装设于车轮A和车轮B上的机架板、装设于机架板上的运动控制系统和压力可调清洁模块，运动控制系统能够控制车轮A和车轮B自由转动；压力可调清洁模块包括相互平行装设的圆形导轨A和圆形导轨B、工作端、升降板、螺杆、金属螺旋弹簧A、金属螺旋弹簧B、U型架和步进电机；工作端包括工作端本体、储水层、和摩擦层；储水层选用可显著发生弹性压缩变形的保水材料制作；摩擦层采用柔性材料制作。本发明是一种结构简单紧凑、可代替人工拖地、通过金属螺旋弹簧调节压力和地面摩擦力的家用清洁机器人。

Figure 201811196396

The invention discloses a pressure-adjustable household cleaning robot, which belongs to the field of cleaning robots. It includes wheel A, wheel B, a frame plate installed on wheel A and wheel B, a motion control system and a pressure-adjustable cleaning module installed on the frame plate, and the motion control system can control wheel A and wheel B Free rotation; the pressure-adjustable cleaning module includes circular guide rail A and circular guide rail B installed in parallel with each other, working end, lifting plate, screw rod, metal coil spring A, metal coil spring B, U-shaped frame and stepper motor; The working end includes a working end body, a water storage layer, and a friction layer; the water storage layer is made of a water-retaining material that can significantly undergo elastic compression deformation; the friction layer is made of a flexible material. The invention is a household cleaning robot with simple and compact structure, which can replace manual mopping and adjust pressure and ground friction through metal coil springs.

Figure 201811196396

Description

一种压力可调节的家用清洁机器人A pressure-adjustable household cleaning robot

技术领域technical field

本发明主要涉及清洁机器人领域，特指一种压力可调节的家用清洁机器人。The invention mainly relates to the field of cleaning robots, in particular to a household cleaning robot with adjustable pressure.

背景技术Background technique

地面清洁机器人，可将地面杂物吸纳进入自身的垃圾收纳盒，从而完成地面清洁，具有广泛的应用前景。然而，现有技术的清洁机器人无法对地面上的沿着污染物进行清洁，即无法达到人工拖地的清洁效果，这是因为人工拖地能够自发地条件地面的摩擦力。因此，设计一种压力可调节的清洁机器人具有重要的价值。The ground cleaning robot can absorb the ground debris into its own garbage storage box to complete the ground cleaning, which has a wide range of application prospects. However, the cleaning robot in the prior art cannot clean the pollutants along the ground, that is, cannot achieve the cleaning effect of manual mopping, because manual mopping can spontaneously condition the frictional force of the ground. Therefore, it is of great value to design a pressure-adjustable cleaning robot.

发明内容SUMMARY OF THE INVENTION

本发明需解决的技术问题是：针对现有技术存在的技术问题，本发明提供一种结构简单紧凑、可代替人工拖地、通过金属螺旋弹簧调节压力和地面摩擦力的家用清洁机器人。The technical problem to be solved by the present invention is: in view of the technical problems existing in the prior art, the present invention provides a household cleaning robot with a simple and compact structure, which can replace manual mopping and adjust pressure and ground friction through a metal coil spring.

为了解决上述问题，本发明提出的解决方案为：一种压力可调节的家用清洁机器人，它包括车轮A、车轮B、装设于所述车轮A和车轮B上的机架板、装设于所述机架板上的运动控制系统和压力可调清洁模块，所述运动控制系统能够控制所述车轮A和车轮B自由转动，其结构特征在于：In order to solve the above problems, the solution proposed by the present invention is: a pressure-adjustable household cleaning robot, which includes a wheel A, a wheel B, a frame plate installed on the wheel A and the wheel B, and a frame plate installed on the wheel A and the wheel B. The motion control system and the pressure-adjustable cleaning module on the frame plate, the motion control system can control the wheel A and the wheel B to rotate freely, and its structural features are:

所述压力可调清洁模块包括相互平行装设的圆形导轨A和圆形导轨B，装设于所述圆形导轨A和圆形导轨B下端的工作端，装设于所述圆形导轨A和圆形导轨B上端的升降板，平行于所述圆形导轨A装设的螺杆，装设于所述圆形导轨A上的金属螺旋弹簧A，装设于所述圆形导轨B上的金属螺旋弹簧B，装设于所述机架板底部的U型架，装设于所述U型架上的步进电机；The pressure-adjustable cleaning module includes a circular guide rail A and a circular guide rail B installed in parallel with each other, installed on the working ends of the lower ends of the circular guide rail A and the circular guide rail B, and installed on the circular guide rail. The lifting plate at the upper end of A and the circular guide rail B is parallel to the screw rod installed on the circular guide rail A, and the metal coil spring A installed on the circular guide rail A is installed on the circular guide rail B The metal coil spring B is installed on the U-shaped frame at the bottom of the frame plate, and the stepping motor installed on the U-shaped frame;

所述工作端包括刚度较大薄板状的工作端本体、装设于所述工作端本体下表面的储水层、和装设于所述储水层下表面的摩擦层；所述储水层选用可显著发生弹性压缩变形的保水材料制作；所述摩擦层采用柔性材料制作；The working end includes a thin plate-shaped working end body with relatively high rigidity, a water storage layer installed on the lower surface of the working end body, and a friction layer installed on the lower surface of the water storage layer; It is made of water-retaining material that can significantly elastically compress and deform; the friction layer is made of flexible material;

所述圆形导轨A和圆形导轨B分别穿过装设于所述机架板上的直线轴承A和直线轴承B；所述螺杆下端穿过装设于所述机架板上的滚动轴承，并与所述步进电机的输出轴相连；所述升降板上设有内螺纹，所述内螺纹与所述螺杆的螺纹相配合传动；The circular guide rail A and the circular guide rail B respectively pass through the linear bearing A and the linear bearing B installed on the frame plate; the lower end of the screw rod passes through the rolling bearing installed on the frame plate, and is connected with the output shaft of the stepping motor; the lifting plate is provided with an inner thread, and the inner thread cooperates with the thread of the screw for transmission;

所述金属螺旋弹簧A和金属螺旋弹簧B两端均分别与所述工作端、所述机架板相连；所述工作端与所述圆形导轨A和所述圆形导轨B滑动连接。Both ends of the metal coil spring A and the metal coil spring B are respectively connected to the working end and the frame plate; the working end is slidably connected to the circular guide rail A and the circular guide rail B.

本发明与现有技术相比，具有如下优点和有益效果：Compared with the prior art, the present invention has the following advantages and beneficial effects:

本发明的一种压力可调节的家用清洁机器人设有螺杆和升降板，通过升降板与机架板支架的金属螺旋弹簧的弹性变形来精确调节工作端对地面的压力和摩擦力，从而实现了对不同地面污染物的清洁效果；且工作端内设有储水层，可以适当地给予地面水分以润滑污染物，方便清洁。由此可知，本发明是结构简单紧凑、可代替人工拖地、通过金属螺旋弹簧调节压力和地面摩擦力的家用清洁机器人。The pressure-adjustable household cleaning robot of the present invention is provided with a screw rod and a lifting plate, and the pressure and friction force of the working end on the ground are precisely adjusted through the elastic deformation of the lifting plate and the metal coil spring of the frame plate bracket, thereby realizing The cleaning effect of different ground pollutants; and there is a water storage layer in the working end, which can properly give the ground moisture to lubricate the pollutants and facilitate cleaning. It can be seen from this that the present invention is a household cleaning robot with simple and compact structure, which can replace manual mopping and adjust pressure and ground friction through metal coil springs.

附图说明Description of drawings

图1是本发明的一种压力可调节的家用清洁机器人的结构原理示意图。FIG. 1 is a schematic diagram of the structural principle of a pressure-adjustable household cleaning robot of the present invention.

图中，11—车轮A；12—车轮B；2—机架板；3—螺杆；4—升降板；51—圆形导轨A；52—圆形导轨B；61—直线轴承A；62—直线轴承B；63—滚动轴承；71—金属螺旋弹簧A；72—金属螺旋弹簧B；8—U型架；9—步进电机；101—工作端本体；102—储水层；103—摩擦层。In the figure, 11—wheel A; 12—wheel B; 2—frame plate; 3—screw; 4—lifting plate; 51—circular guide rail A; 52—circular guide rail B; 61—linear bearing A; 62— Linear bearing B; 63—rolling bearing; 71—metal coil spring A; 72—metal coil spring B; 8—U-shaped frame; 9—stepper motor; 101—working end body; 102—water storage layer; 103—friction layer .

具体实施方式Detailed ways

以下将结合附图和具体实施例对本发明作进一步详细说明。The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

参见图1所示，本发明的一种压力可调节的家用清洁机器人，包括车轮A11、车轮B12、装设于车轮A11和车轮B12上的机架板2、装设于机架板2上的运动控制系统和压力可调清洁模块，运动控制系统能够控制车轮A11和车轮B12自由转动。Referring to FIG. 1 , a pressure-adjustable household cleaning robot of the present invention includes wheels A11, B12, a rack plate 2 mounted on the wheels A11 and B12, and a rack plate 2 mounted on the rack plate 2. Motion control system and pressure-adjustable cleaning module, the motion control system can control wheel A11 and wheel B12 to rotate freely.

参见图1所示，压力可调清洁模块包括相互平行装设的圆形导轨A51和圆形导轨B52，装设于圆形导轨A51和圆形导轨B52下端的工作端，装设于圆形导轨A51和圆形导轨B52上端的升降板4，平行于圆形导轨A51装设的螺杆3，装设于圆形导轨A51上的金属螺旋弹簧A71，装设于圆形导轨B52上的金属螺旋弹簧B72，装设于机架板2底部的U型架8，装设于U型架8上的步进电机9。Referring to Figure 1, the pressure-adjustable cleaning module includes a circular guide rail A51 and a circular guide rail B52 installed in parallel with each other, installed on the working end of the lower end of the circular guide rail A51 and the circular guide rail B52, and installed on the circular guide rail. A51 and the lifting plate 4 at the upper end of the circular guide rail B52, the screw rod 3 installed parallel to the circular guide rail A51, the metal coil spring A71 installed on the circular guide rail A51, the metal coil spring installed on the circular guide rail B52 B72 , the U-shaped frame 8 installed at the bottom of the rack plate 2 , and the stepping motor 9 installed on the U-shaped frame 8 .

参见图1所示，工作端包括刚度较大薄板状的工作端本体101、装设于工作端本体101下表面的储水层102、和装设于储水层102下表面的摩擦层103；储水层102选用可显著发生弹性压缩变形的保水材料制作；摩擦层103采用柔性材料制作。Referring to FIG. 1, the working end includes a thin plate-shaped working end body 101 with relatively high rigidity, a water storage layer 102 installed on the lower surface of the working end body 101, and a friction layer 103 installed on the lower surface of the water storage layer 102; The water layer 102 is made of a water-retaining material that can significantly undergo elastic compression deformation; the friction layer 103 is made of a flexible material.

参见图1所示，圆形导轨A51和圆形导轨B52分别穿过装设于机架板2上的直线轴承A61和直线轴承B62；螺杆3下端穿过装设于机架板2上的滚动轴承63，并与步进电机9的输出轴相连；升降板4上设有内螺纹，内螺纹与螺杆3的螺纹相配合传动。Referring to Figure 1, the circular guide rail A51 and the circular guide rail B52 respectively pass through the linear bearing A61 and the linear bearing B62 installed on the frame plate 2; the lower end of the screw 3 passes through the rolling bearing installed on the frame plate 2 63, and is connected with the output shaft of the stepping motor 9; the lifting plate 4 is provided with an inner thread, and the inner thread cooperates with the thread of the screw 3 for transmission.

参见图1所示，金属螺旋弹簧A71和金属螺旋弹簧B72两端均分别与工作端、机架板2相连；工作端与圆形导轨A51和圆形导轨B52滑动连接，即工作端可相对于圆形导轨A51和圆形导轨B52的轴线发生较小的平动。Referring to Figure 1, both ends of the metal coil spring A71 and the metal coil spring B72 are connected to the working end and the frame plate 2 respectively; the working end is slidingly connected to the circular guide rail A51 and the circular guide rail B52, that is, the working end can be relative to the The axes of the circular guide rail A51 and the circular guide rail B52 undergo a small translation.

工作原理：在初始状态，工作端的摩擦层103刚好接触地面；步进电机9正向转动带动螺杆3正向转动，设有内螺纹的升降板4在圆形导轨A51和圆形导轨B52的作用下只能相对于机架板2平动，即升降板4向上运动，此时金属螺旋弹簧A71和金属螺旋弹簧B72发生一定的弹性变形，该弹性变形将反作用于工作端，即给予工作端本体101、储水层102和摩擦层103向下的压力，从而使得车轮A11和车轮B12运动时，摩擦层103清洁地面；在弹簧作用力下，储水层102发生一定的变形，从而给予摩擦层103和地面一定的润湿，方便摩擦层103实施类似人工的拖地清洁效果。Working principle: In the initial state, the friction layer 103 of the working end just touches the ground; the forward rotation of the stepping motor 9 drives the screw 3 to rotate forward, and the lifting plate 4 with internal thread plays the role of the circular guide rail A51 and the circular guide rail B52 The bottom can only translate relative to the frame plate 2, that is, the lifting plate 4 moves upward. At this time, the metal coil spring A71 and the metal coil spring B72 have a certain elastic deformation, and the elastic deformation will react on the working end, that is, give the working end body 101. The downward pressure of the water storage layer 102 and the friction layer 103 makes the friction layer 103 clean the ground when the wheels A11 and B12 move; 103 and the ground are wetted to a certain extent, which is convenient for the friction layer 103 to perform a similar manual mopping cleaning effect.

Claims (1)

1.一种压力可调节的家用清洁机器人，包括车轮A(11)、车轮B(12)、装设于所述车轮A(11)和车轮B(12)上的机架板(2)、装设于所述机架板(2)上的运动控制系统和压力可调清洁模块，所述运动控制系统能够控制所述车轮A(11)和车轮B(12)自由转动，其特征在于：1. A pressure-adjustable household cleaning robot, comprising a wheel A (11), a wheel B (12), a frame plate (2) mounted on the wheel A (11) and the wheel B (12), A motion control system and a pressure-adjustable cleaning module installed on the frame plate (2), the motion control system can control the wheel A (11) and the wheel B (12) to rotate freely, characterized in that: 所述压力可调清洁模块包括相互平行装设的圆形导轨A(51)和圆形导轨B(52)，装设于所述圆形导轨A(51)和圆形导轨B(52)下端的工作端，装设于所述圆形导轨A(51)和圆形导轨B(52)上端的升降板(4)，平行于所述圆形导轨A(51)装设的螺杆(3)，装设于所述圆形导轨A(51)上的金属螺旋弹簧A(71)，装设于所述圆形导轨B(52)上的金属螺旋弹簧B(72)，装设于所述机架板(2)底部的U型架(8)，装设于所述U型架(8)上的步进电机(9)；The pressure-adjustable cleaning module includes a circular guide rail A (51) and a circular guide rail B (52) installed in parallel with each other, and installed on the lower ends of the circular guide rail A (51) and the circular guide rail B (52) At the working end, the lifting plate (4) installed on the upper end of the circular guide rail A (51) and the circular guide rail B (52) is parallel to the screw (3) installed on the circular guide rail A (51). , the metal coil spring A(71) installed on the circular guide rail A(51), the metal coil spring B(72) installed on the circular guide rail B(52), installed on the a U-shaped frame (8) at the bottom of the rack plate (2), a stepping motor (9) installed on the U-shaped frame (8); 所述工作端包括刚度较大薄板状的工作端本体(101)、装设于所述工作端本体(101)下表面的储水层(102)、和装设于所述储水层(102)下表面的摩擦层(103)；所述储水层(102)选用可显著发生弹性压缩变形的保水材料制作；所述摩擦层(103)采用柔性材料制作；The working end comprises a thin plate-shaped working end body (101) with relatively high rigidity, a water storage layer (102) installed on the lower surface of the working end body (101), and a water storage layer (102) installed on the water storage layer (102) The friction layer (103) on the lower surface; the water storage layer (102) is made of a water-retaining material that can significantly undergo elastic compression deformation; the friction layer (103) is made of a flexible material; 所述圆形导轨A(51)和圆形导轨B(52)分别穿过装设于所述机架板(2)上的直线轴承A(61)和直线轴承B(62)；所述螺杆(3)下端穿过装设于所述机架板(2)上的滚动轴承(63)，并与所述步进电机(9)的输出轴相连；所述升降板(4)上设有内螺纹，所述内螺纹与所述螺杆(3)的螺纹相配合传动；The circular guide rail A (51) and the circular guide rail B (52) respectively pass through the linear bearing A (61) and the linear bearing B (62) installed on the frame plate (2); the screw rod (3) The lower end passes through the rolling bearing (63) installed on the frame plate (2), and is connected with the output shaft of the stepping motor (9); the lifting plate (4) is provided with an inner a thread, the inner thread cooperates with the thread of the screw (3) for transmission; 所述金属螺旋弹簧A(71)和金属螺旋弹簧B(72)两端均分别与所述工作端、所述机架板(2)相连；所述工作端与所述圆形导轨A(51)和所述圆形导轨B(52)滑动连接；Both ends of the metal coil spring A (71) and the metal coil spring B (72) are respectively connected to the working end and the frame plate (2); the working end is connected to the circular guide rail A (51). ) is slidably connected to the circular guide rail B (52); 通过所述金属螺旋弹簧(A71、B72)的弹性变形来精确调节所述工作端对地面的压力和摩擦力；给予所述工作端本体(101)、所述储水层(102)和所述摩擦层(103)向下的压力，在所述金属螺旋弹簧(A71、B72)作用力下，所述储水层(102)发生一定的变形，从而给予所述摩擦层(103)和地面一定的润湿。Through the elastic deformation of the metal coil springs (A71, B72), the pressure and friction force of the working end to the ground are precisely adjusted; the working end body (101), the water storage layer (102) and the The downward pressure of the friction layer (103), under the action of the metal coil springs (A71, B72), the water storage layer (102) is deformed to a certain extent, thereby giving the friction layer (103) and the ground a certain amount of deformation of wetting.
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CN214104326U (en) * 2019-09-29 2021-09-03 北京石头世纪科技股份有限公司 Driving wheel module and self-moving robot
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CN114098551B (en) * 2021-02-06 2023-08-04 曲阜信多达智能科技有限公司 Cleaning machine system

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CN205548460U (en) * 2016-03-08 2016-09-07 林洁 Automatic mop of telescopic
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